| Citation: | ZHANG Yi, FANG Guowei, YANG Xiuxia, et al. Multi-UAV formation target tracking control based on event-triggered strategy[J]. Journal of Beijing University of Aeronautics and Astronautics, 2021, 47(11): 2215-2225. doi: 10.13700/j.bh.1001-5965.2020.0432(in Chinese)
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In order to solve the problem of frequent updating of information between UAVs and control input in multi-UAV formation target tracking, this paper proposes a multi-UAV formation target tracking control algorithm based on event-triggered mechanism. Firstly, a new integrated method of formation description and target tracking with event-triggered strategy is presented, which simplifies the complexity of algorithm design and makes the working process of triggered mechanism more intuitive. Secondly, distributed target tracking control law is designed, and event-triggered function is designed only based on estimated state value, so that the problem of updating communication and control input between UAVs is transformed into the problem of determining the value of triggered function. At the same time, the minimum triggered interval coefficient is designed to avoid the possible "Zeno behavior". Finally, the algorithm is verified by simulation with different formation motion modes. The results show that the proposed algorithm can make UAV formation track the target when the number of inter-aircraft communication and control update is significantly reduced.
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